Distributed sensing apparatus and method of use therefor

ABSTRACT

An apparatus configured to obtain, process, and relay data to a user in a coherent and useful manner. An active fiducial  200  is equipped with an interface for receiving and transmitting data. The fiducial may transmit its position using a satellite-based position sensing device  204  such as a GPS. Active fiducials may also be equipped with battery power pack regenerated with solar cells  206.  Similarly, the fiducials can be equipped with at least one video camera  208  or other device having a focal plane array and a computer software system, configured to recognize shapes. The fiducials may also be equipped with inductive coils  210  or other means for sensing metal containing compounds. The active fiducials may be equipped with a gas chromatograph  212.  The active fiducials may use a variety of propulsion means including motor driven tracks  214,  motor driven wheels  216,  propellers, or other device or a combination of devices.

PRIORITY CLAIM

[0001] This application claims the benefit of priority to provisionalapplication No. 60/235,599, filed in the United States on Sep. 27, 2000,and titled “Distributed Display Composed of Active Fiducials”.

STATEMENT OF GOVERNMENT RIGHTS

[0002] Portions of this invention was made or used in conjunction withU.S. Government support from the Defense Advanced Research ProjectsAgency, under Contract No. N66001-99-C-8514. The U.S. Government mayhave certain rights in this invention.

TECHNICAL FIELD

[0003] The present invention relates generally to an apparatus and amethod configured to provide a user with data collected from multiplesources.

BACKGROUND OF THE INVENTION

[0004] Conventional approaches to displaying information from multiplesensors require a map of the environment to which the informationpertains and data regarding the coordinates of each sensor. Generallydata from each sensor is obtained and compiled by way of a userinterface, and the data is then displayed relative to a map in thepossession of a user. The data may be superimposed onto the map atlocations corresponding to the position of each sensor.

[0005] Drawbacks to these approaches include the requirement of acoordinate system that allows a correspondence between features on themap and features in the environment. Further, the position of eachsensor must be known relative to the map. Accordingly, the position ofeach sensor is generally indexed within the coordinate system so thatthe relative position of each sensor is known and, thereby, therelevance of the data obtained by each particular sensor can then beascertained.

[0006] There are numerous instances where a user is either unable toobtain a map of the environment, or is unable to obtain a map that isaccurate enough to facilitate the coordination of gathered data with themap.

[0007] Therefore, it would be desirable to have a means for obtainingdata from the environment whereby the data could be coordinated with thesites of data collection without the need for a map.

SUMMARY OF THE INVENTION

[0008] The present invention overcomes the limitations of the prior artby providing an apparatus and method for obtaining data from anenvironment wherein the data are associated with the data collectionsites without the need for a map of the environment. This presentinvention provides a means for providing location-specific informationto a user from a collection of distributed data sensors. The sensorswill herein be referred to as “active fiducials”, robots, and sensors.

[0009] One embodiment of the present invention provides a methodconfigured to provide, in a coherent and useful manner, at least oneuser with data collected by a plurality of active fiducials. Accordingto this method, there is a first step that includes an instructing step,whereby a user provides the plurality of active fiducials instructionsor sensor criteria in order to direct the plurality of active fiducialsto a desired target. The second step is a searching step, whereby theplurality of active fiducials are dispersed and seek a target based uponthe instructions or sensor criteria provided by the user. The third stepis a detection step, wherein at least one of the plurality of activefiducials locates a target matching the provided instructions or meetingthe provided sensor criteria. The fourth step is a notification step,wherein the sensor data is optionally transmitted from theinter-fiducial interface to other active fiducials within the pluralityof active fiducials or directly to a user or both. The fifth stepincludes a receiving and converting step, wherein data are received by auser and, as necessary, are converted into a user discernable format.

[0010] Another embodiment of the present invention provides a pluralityof active fiducials configured to identify and convey useful data to atleast one user utilizing the plurality of active fiducials. Thisembodiment provides an apparatus for displaying data detected via one ormore active fiducials, wherein the one or more active fiducials actindependently and operate without internal maps of the environment ofinterest. Based upon instructions provided by a user, optionally througha user-fiducial interface, each fiducial is capable utilizing itsplurality of sensors to collect relevant data regarding a selectedtarget. The relevant data might include the direction of the targetrelative to the fiducial. This data is provided to a processorconfigured to receive the data and relay the data to a user-fiducialinterface, where it is converted to a user-friendly format, such as aheads up display or head worn display.

[0011] Another embodiment provides an apparatus for gathering andtransmitting data to a user, comprising: one or more active fiducials,wherein each fiducial further comprises at least one sensor configuredto collect data and provide that data to a processor; a processorconfigured to receive the collected data and relay it to aninter-fiducial interface and a user-fiducial interface; aninter-fiducial interface configured to allow communication between theactive fiducials; and, a user-fiducial interface configured to allowcommunication between the active fiducials and the user.

[0012] In yet another embodiment the sensor on the active fiducial is acamera which can be dynamically rotated on the active fiducial, thusfacilitating a plurality of environmental views without requiring theactive fiducial to move. One such embodiment, envisions a camera mountedon a turret.

BRIEF DESCRIPTION OF THE DRAWINGS

[0013] The accompanying drawings form a part of the specification, andillustrate various embodiments of the invention. The drawings, takentogether with the description, serve to explain the principles of theinvention.

[0014]FIG. 1 is a flowchart depicting a method whereby a user firstinstructs the active fiducials to locate a target based upon criteriaprovided by the user;

[0015]FIG. 2 is a depiction of one embodiment of an active fiducialaccording to the present invention;

[0016]FIG. 3 is an illustration of a plurality of active fiducials inoperation;

[0017]FIG. 4 is a diagram of an active fiducial unit relaying data to auser by way of a user-fiducial interface; and

[0018]FIG. 5 is a split view of a plurality of active fiducials,indicating an unaided view and an augmented view in the case where atarget is not discernable to a user.

DETAILED DESCRIPTION

[0019] The following description, taken in conjunction with thereferenced drawings, is presented to enable one of ordinary skill in theart to make and use the invention and to incorporate it in the contextof particular applications. Various modifications, as well as a varietyof uses in different applications, will be readily apparent to thoseskilled in the art, and the general principles defined herein may beapplied to a wide range of embodiments. Thus, the present invention isnot intended to be limited to the embodiments presented, but is to beaccorded the widest scope consistent with the principles and novelfeatures disclosed herein. Furthermore it should be noted that, unlessexplicitly stated otherwise, the figures included herein are illustrateddiagrammatically and without any specific scale, as they are provided asqualitative illustrations of the concept of the present invention.

[0020] The present invention provides a method and apparatus whereby oneor more active fiducials locate and gather data that is then provided toa user. More specifically, the present invention described hereincontemplates numerous configurations in order to accomplish the tasks oflocating and obtaining relevant information about a target based uponinstructions provided to one or more active fiducials by a user.

[0021] The flowchart shown in FIG. 1 outlines one embodiment of thepresent invention, whereby data regarding a target is obtained,processed, and relayed to a user in a coherent and useful manner.According to this embodiment, there is at least one user and a pluralityof active fiducials. Accordingly, there is an instructing step 100,whereby a user provides the plurality of active fiducials withinstructions or sensor criteria in order to direct the plurality ofactive fiducials to a desired target. These instructions may bepermanently fixed, or may be varied either by an end user or anintermediate user. Where an end user refers to a final user and anintermediate user may refer to an entity that either retransmits data,or uses collected data as a means to draw conclusions, or makedecisions, before the data is routed to the end user. For example, thefiducials may be employed to help detect incipient forest fires. In thiscase the fiducials sensors would be programmed to seek out certain heatsources. Upon finding such a heat source the discovering fiducial willrelay a message to the user, either through other intermediate fiducialsor directly to an end user, such as a forest ranger. The fiducial maytransmit its position using a satellite based position-sensing devicesuch as GPS, or by providing its direction to either other fiducials ordirectly to the user. Thus if a plurality of active fiducials werereleased into a forest they may be permitted to wander aboutindefinitely, possibly using a solar power pack, in search of forestfires. Similarly, the fiducials could be configured to look for certainshapes, using commonly available video cameras and shape identificationsoftware. Thus the fiducials may find application in crime sceneinvestigations, by searching fields or buildings for instruments of thecrime. The fiducials could also search for metal containing compounds,such as weapons or land mines, or even toxic substances. A simple gaschromatograph could draw air and water samples and test for the presenceof certain chemicals in situ. According to the method of thisembodiment, a searching step 102 is performed next, whereby theplurality of active fiducials are dispersed in order to seek a targetbased upon the instructions or sensor criteria provided by the user. Thethird step 104 is a detecting step, wherein at least one of theplurality of active fiducials locates a target matching the providedinstructions or meeting the provided sensor criteria. The fourth step106 is a notifying step, wherein the sensor data is optionallytransmitted from the inter-fiducial interface to other active fiducialswithin the plurality of active fiducials or directly to a user, or both.The fifth step 108 includes a receiving and converting step, whereindata are received by a user and, as necessary, are converted into a userdiscemable format. In the present embodiment, the data relayed by theactive fiducials may be sent to other active fiducials to optimize ormodify their searches and/or data acquisition.

[0022] Another embodiment of the present invention provides an apparatusconfigured to obtain, process, and relay data to a user in a coherentand useful manner. According to this embodiment, as depicted in FIG. 2,each active fiducial 200 is equipped with an interface for receivingdata and transmitting data. Where data is understood to includeinstructions, sensor criteria, sensor reports, and other transceiveddata. Instructions may relate to the dispersion pattern that the robotsare to take, sensor criteria would include both what to look for, andideally at what level. Thus, travel due north and report when theambient concentration of oxygen goes 12 percent. The sensor reportsmight include a report stating that the ambient concentration of oxygenis 7 percent, and include the fiducial's coordinates. This datainterface may include a remote receiving module 202 or another type ofinterface. Instructions and sensor criteria can be permanentlyprogrammed into the active fiducials, or may be varied either by the enduser or an intermediate user. For example, the fiducials may be employedto help detect incipient forest fires. In this case the fiducialssensors would be programmed to seek out certain heat sources. Uponfinding such a heat source the discovering fiducial will relay a messageto the user, either through other fiducials or directly to the user. Thefiducial may transmit its position using a satellite-based positionsensing device, or by providing its direction to either other fiducialsor directly to the user. In the case where directions are provided usinga satellite based position sensing device the active fiducial will beequipped with a GPS receiver 204 or equivalent system. Similarly if aradio beacon system is utilized in place of a GPS, the fiducial wouldneed to be equipped with the appropriate technology. The activefiducials may also be equipped with battery power pack regenerated withsolar cells 206. Similarly, the fiducials can be equipped with at leastone video camera 208 and a computer software system, configured torecognize shapes, in all cases the active fiducial is defined to includea data processor. The fiducials may also be equipped with inductivecoils 210 or other means for sensing metal containing compounds.Additionally the fiducial may be equipped with a gas chromatograph 212,configured to sample air or water and test for the presence of certainchemicals in situ. Sensors need not be statically mounted to the activefiducials. It is anticipated, and in some cases preferred, that thesensors can change position on the active fiducials. The video camera208 could be mounted on a turret to allow for a wide view range. Theactive fiducial is intended to accommodate virtually any sensor or arrayof sensors. Further, the active fiducials may use a variety ofpropulsion means including motor driven tracks 214, motor driven wheels216, propellers, lighter than air reservoirs, such as hot air balloonsof dirigibles, or other propulsion device or a combination of devices.The propulsion device will generally be coupled to a steering mechanism,which, may be controlled, by user input, a “smart” algorithm or similarartificial intelligence protocol, or pre-specified directions such as acompass/GPS heading or by a trial and error random walk, wherein theactive fiducials travel until their progress is sufficiently inhibitedand then retreat. The active fiducial often will simply be a sensorallowed to statically remain in place, or move when acted upon byenvironmental forces. In such a situation the fiducial would not haveany propulsion means. The active fiducials communicate with the usereither directly or through at least one other active fiducial. The meansof communication may either be by conventional radio waves, or otherbands within the electromagnetic radiation range, visible or not.Additionally the active fiducial may use electromechanical radiation,either alone or in conjunction with electromagnetic radiation. Theactive fiducials may also be attached to mobile objects such asmotorized vehicles, planes or animals. Such an embodiment may beequipped with adhesive, a cord or wire or a magnetic adhesion device orother adhering device. In this way the active fiducials could be readilyaffixed to a plurality of mobile objects.

[0023] In another embodiment of the present invention, the activefiducial is configured to provide visually discernable status indicia.For instance, FIG. 3 presents a plurality of active fiducials 300 thathave found an object 302 matching a specified criterion. In this casethe each active fiducial is equipped with an arrow 304 and adirection-specific transceiver 306 (see outtake). Here, an activefiducial 300 has located a target 302, a gun in this case, and hastransmitted its findings to surrounding active fiducials 300. Because adirection-specific transceiver 306 is utilized, each active fiducialreceives information that is appropriate to its position. In thisembodiment the direction-specific transceiver 306 comprises a pluralityof light emitting diodes 308, surrounded by a plurality of baffles. Eachdiode emits at a unique wavelength or flash pattern, and directly belowor above each diode could optionally be an electromagnetic radiationsensor for directional sensing. In this embodiment there are 32different wavelengths, or transmission patterns, thus providing anangular resolution of about 10 degrees. There could be greater or fewerwavelengths and the device could be interpreted using only the unaidedeye, for example through the use of colors. In this embodiment of thepresent invention the user cannot see the target, such a situationexists where there is no unobstructed view, or where the subject matteris invisible, as is the case with certain types of gas, heat, orotherwise difficult to discern systems. In the present case the arrowspoint the user in the direction of the target, even when the target isout of sight. There is nothing exclusive about the use of arrows asindicia of direction, directional color or other characteristics couldbe used with comparable results. Consider the situation where red, greenand yellow diodes are used to indicate a fact concerning a region. Agreen light could mean no hazard, a yellow light could indicate thepresence a toxin above a first threshold, and a red light could indicatethe presence of a toxin above a second threshold. Alternatively, thedata from the fiducials can be represented as an overlay, theaggregation of the data from all the fiducials would result in acoherent distributed display of information. This display is comparableto a traditional display that is composed of a plurality of pixels, eachof which is insufficient to convey the content of an image, but whentaken in the aggregate form a useful image. An example of such anapplication would be the placement of active fiducials in the vicinityof a toxic chemical discharge. The fiducials could use pseudo-color todynamically map toxin concentration gradients across a geographicalarea. Similarly, temperature or any other environmental quality could bemeasured.

[0024] In an alternative embodiment the light emitting diodes aredistinguishable based on a number of factors such as intensity, or ifthe light emitting diode is made to have periods of alternating ofillumination. In such a scenario the periodicity of illumination may beused to provide directional and substantive data. Further it isanticipated that fairly complex patterns of periodicity and varyingwavelength could allow for a virtually limitless number of uniquedirectional signals. Alternative systems could use directional radiotransmitters, or directional acoustical transmitters. Additionally,laser beams could be used to provide better directional resolution. Insuch a case it is anticipated that the intermittency of the transmittedbeam would contain, at least a portion of the coded directionalcomponent. In some situations each active fiducial within an area may beable to simultaneously provide unique localized information. Such asituation exists where toxic gases are known to exist. By placing activefiducials strategically across an area, a user could view the toxic gasconcentration gradients across the area. A pseudo-color scheme could beused to depict concentration in a heads-up display or other display.Similarly, various colored light emitting diodes could be employedacross the field, where the light emitting diode's color could indicateconcentration.

[0025] A diagram of a fiducial unit relaying data to a user by way of auser-fiducial interface is shown in FIG. 4. In the present embodiment ofthe invention, the user is holding or is wearing a receiving unit 400,which is capable of receiving and interpreting the data from an activefiducial 402. The converted data is put into a form recognizable by auser and provided to a user. In this case the data is displayed on apair of glasses 404 which are substantially transparent except for theselective placement of fiducial related data. For the purposes of thisapplication this will be considered a heads up display. The relevantinformation can be relayed to the user in numerous other ways such as avideo display or monitor or audio signal having a variable intensity ortone.

[0026] In another embodiment of the present invention, the transceivertransmits using electromagnetic radiation outside the visible region,such as radio frequency, infrared light, microwave, etc. The user thenutilizes a receiver to decode the signals and displays the directionaldata or other data. The data may be in the form of an overlay on a headsup display, an augmentation of a video feed, a display on a screen, suchas a laptop, CRT, other display, or other mode of data conveyance. Suchan embodiment is provided in FIG. 5. The non-augmented view 500 in thisembodiment shows only the active fiducials 502 in a specific location.However, with the aid of an augmented view 504, the user further seesthe desired additional data regarding the position of the target 506.

[0027] Yet another embodiment provides an active fiducial comprising ameans for obtaining information. In this embodiment the means may beeither a receiver, configured to collect data from one or more otheractive fiducials, or it may be a sensor as discussed earlier. If asensor is used the sensor is configured to not onluy collect data, butto provide the data to a sensor interface, so that the collected datamay be made available to a user, either directly or through anotheractive fiducial. According to this embodiment there is also a means forconveying information to a user, this means could include any means ofdata conveyance, including the use of reflected light. Thus, the activefiducial may display a non-illuminated sign, or an illuminated sign orany other data conveyance means. Further, this embodiment envisions animplicit means for conveying apparatus location identification. The mostobvious example is an active fiducial in plain sight. This means oflocation providing information relies on the ability of the user toascertain the location of the active fiducial based on the perception ofthe user. In more complex systems the active fiducial may be concealedto the naked eye but visible with the aid of an optical device. Thus,the user will extract an essential element of information by visuallyperceiving the active fiducials, even if the perception is accomplishedwith the aid of a user operated device.

[0028] It is anticipated that the active fiducial will rely on at leastone means for conveying a signal. A non-exhaustive list might include anomni-directional electromagnetic radiation originating transmitter. Sucha transmitter would include a transmitter configured to transmit invirtually any spectrum of the electromagnetic radiation region. Thus alight transmission and a radio transmission would be anticipated. Inthis case the active fiducial would actually power the transmitter. Inanother version the active fiducial may use ambient energy to transmit asignal. An example would be the situation where sunlight is allowed toimpinge on an object, and be reflected to a user. The reflected lightwould provide a signal to the user. An pointing arrow or other dataindicia would be included in this embodiment. The electromagneticradiation emanating form the active fiducial, either originating orbeing reflected, can be either visible from only one general directionor visible form a plurality of directions. Additionally the activefiducial may utilize audio signals either within or out of the rangeperceptible by humans.

1. An active fiducial apparatus comprising: at least one sensor, atleast one data processing element, and a user interface: wherein the atleast one sensor is configured to receive data and to provide the datato a data processing element, the data processing element processes thedata, and if the data falls within predefined parameters, the dataprocessor conveys a signal.
 2. An apparatus as set forth in claim 1,further comprising a user interface, whereby a user may utilize the userinterface to provide instructions to the active fiducial via the dataprocessor.
 3. An apparatus as set forth in claim 1, further comprisingan inter-fiducial interface, whereby the fiducial may communicate datato other active fiducials.
 4. An apparatus as set forth in claim 1,further comprising a means for propulsion.
 5. An apparatus as set forthin claim 4, wherein the means for facilitating propulsion includes atleast one of the following: a. a wheel; b. awing; c. a lighter than airreservoir; d. a propeller; and e. an attachment means.
 6. An apparatusas set forth in claim 1, wherein the plurality of active fiducialscommunicate with the user either directly or by using at least one otheractive fiducial as a repeater station.
 7. An apparatus as set forth inclaim 6, wherein the means of communication includes at least one of thefollowing: a. conventional radio waves; b. frequencies within theelectromagnetic radiation spectrum that are visible; c. frequencieswithin the electromagnetic radiation spectrum that are not visible; andd. electromechanical radiation.
 8. An apparatus as set forth in claim 1,wherein the active fiducials have at least one of the following sensors:a. thermal sensor; b. a metal sensing means; c. a gas analysis means; d.a focal plane array sensitive to radiation substantially within thevisible region; and e. a focal plane array sensitive to radiationsubstantially in the infrared region.
 9. An apparatus as set forth inclaim 8, wherein the at least one sensor on the active fiducial is: i.static relative to the active fiducial; and ii. dynamic relative to theactive fiducial.
 10. An apparatus as set forth in claim 1, wherein theactive fiducials are equipped with a satellite-based positioning systemand wherein the active fiducials can transmit their location using thesatellite-based positioning system.
 11. An apparatus as set forth inclaim 1, wherein the fiducial interface at the active fiducials isconfigured to receive data transmitted by electromagnetic radiation andwherein the data is relayed to the user using one of the following: i.color-based illumination; ii. alternating periods of varying frequenciesof electromagnetic radiation illumination; and iii. alternating periodsof electromagnetic radiation at specific frequencies.
 12. An apparatusas set forth in claim 1, wherein the active fiducial interface transmitsunique messages in a plurality of directions using a plurality ofdirectional transmitters.
 13. A method for gathering and displayinguseful data from at least one source comprising the following steps: i.instructing a plurality of active fiducials, whereby the instructionsdirect the plurality of active fiducials to a desired target; ii.dispersing the active fiducials to facilitate the location of at leastone target based upon the provided instructions; iii. samplingenvironmental elements, using at least one sensor, until a match for theprovided instructions is found; iv. transmitting sensor data to at leastone of the following: a. other active fiducials; and b. a user; and v.displaying data to the user in a usable manner.
 14. A method forgathering and displaying useful data as set forth in 13, wherein theactive fiducials are configured to receive instructions by way of atleast one of the following: a. conventional radio waves; b. frequencieswithin the electromagnetic radiation spectrum that are visible; c.frequencies within the electromagnetic radiation spectrum that are notvisible; and d. electromechanical radiation.
 15. A method for gatheringand displaying useful data as set forth in 13, wherein the sensor is atleast one of the following: a. thermal sensor; b. a metal sensing means;c. a gas analysis sensing means; d. a focal plane array sensitive toradiation substantially within the visible region; and e. a focal planearray sensitive to radiation substantially in the infrared region.
 16. Amethod for gathering and displaying useful data as set forth in 15,wherein the sensors associated with each active fiducial is: i. staticrelative to the active fiducial; and ii. dynamic relative to the activefiducial.
 17. A method for gathering and displaying useful data as setforth in 15, wherein the active fiducials are equipped with asatellite-based positioning system and wherein the active fiducialstransmit their location utilizing data provided by the satellite-basedpositioning system.
 18. A method for gathering and displaying usefuldata as set forth in 15, wherein the active fiducial interface isconfigured to receive data in electromagnetic radiation form, andwherein the data is relayed to the user using one of the following: i.color-based illumination; ii. alternating periods of varying frequencieselectromagnetic radiation illumination; and iii. alternating periods ofelectromagnetic radiation at specific frequencies.
 19. A method forgathering and displaying useful data as set forth in 15, wherein theactive fiducial interface transmits unique messages in a plurality ofcorrespondingly unique plurality of directions using a plurality ofdirectional transmitters.
 20. An active fiducial comprising: a means forobtaining information; a means for conveying information to a user; andan implicit means for conveying apparatus location.
 21. An activefiducial as set forth in claim 20 wherein the means for obtaininginformation comprises at least one of the following: i. an environmentalsensor; ii. another active fiducials.
 22. An apparatus as set forth inclaim 20 wherein the means for conveying information to a user includes:i. an omni-directional electromagnetic radiation originatingtransmitter; ii. a directional electromagnetic radiation originatingtransmitter; iii. an omni-directional electromagnetic radiationreflective re-transmitter; iv. an electromagnetic radiation reflectivedirectional re-transmitter; and v. an electromechanical radiationoriginating transmitter.
 23. An apparatus as set forth in claim 20,wherein the implicit means for conveying apparatus locationidentification includes: i. providing a direct line of site to thefiducial; and ii. providing an encumbered line of site to the fiducial,such that the fiducial is only be visible to observers havingspecialized equipment.